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Search: authors:"Adam Ratajczak"

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Egalitarian versus prioritarian approach in multiple task motion planning for nonholonomic systems

In this paper, two different concepts of multiple task motion planning algorithm for nonholonomic systems are considered. The egalitarian approach treats all the tasks equivalently and tries to solve all the tasks simultaneously. In contrast, the prioritarian approach arranges the tasks with decreasing priorities in such a way that the solution of the lower order task should not ...

Lagrangian Jacobian inverse for nonholonomic robotic systems

The motion planning problem for nonholonomic robotic systems is studied using the continuation method and the optimization paradigms. A new Jacobian motion planning algorithm is derived, based on a solution of the Lagrange-type optimization problem addressed in the linear approximation of the system. Performance of the new algorithm is illustrated by numeric computations performed ...

Parametric and Non-parametric Jacobian Motion Planning for Non-holonomic Robotic Systems

Adam Ratajczak 0 Krzysztof Tcho n 0 0 This work was supported by the Wrocaw University of Technology under a statutory grant This paper addresses computational aspects of the Jacobian motion

Kinematics and Motion Planning of the Multi-Bar System

Janusz Jakubiak 0 Adam Ratajczak 0 0 This research was supported by the Wrocaw University of Technology under a statutory grant This paper studies a generalization to 3D space of the planar system